An ocean hydrological observation device based on an unmanned remotely operated submersible

Abstract

The present invention discloses an ocean hydrological observation device based on an unmanned remote-controlled submersible in the field of ocean hydrological observation technology, comprising a fixed plate and a mounting block, wherein the mounting block is fixedly connected to the fixed plate and is used for docking and mounting with the unmanned submersible; a transport pipe is fixedly connected to a position above the fixed plate and a plurality of sampling barrels are provided at a position below the fixed plate; the upper surface of the sampling barrel is in contact with the lower surface of the fixed plate; a sampling mechanism is provided on the transport pipe, and the sampling mechanism is used for sampling on the seabed by shearing; a collecting mechanism is provided on the fixed plate, and the collecting mechanism is used for collecting samples taken by the sampling mechanism into the sampling barrel at the frontmost position; a rotating mechanism is provided on the fixed plate, and the rotating mechanism is used for driving the plurality of sampling barrels to rotate to the frontmost position of the fixed plate in sequence; the device can use the shearing method to enable the unmanned submersible to take samples without supporting force, thereby perfectly completing the sample collection and facilitating accurate observation of the seabed conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of ocean hydrological observation, and in particular to an ocean hydrological observation device based on an unmanned remote-controlled underwater vehicle. Background Art

[0002] Ocean hydrological observation is an observation conducted to understand the distribution and changing patterns of ocean hydrological elements. It includes the collection and sampling of various substances on the seabed. By testing the samples, the conditions of the seabed can be observed more accurately.

[0003] When sampling the seabed, unmanned remote-controlled submersibles are usually used. The sampling equipment can be brought to the seabed by the unmanned remote-controlled submersible to complete the sampling work; existing samplers usually complete sampling by digging. However, due to the soft soil on the seabed, it is impossible to provide stable support for the submersible. Therefore, there is a problem of not being able to effectively collect enough samples during sampling, which is not conducive to accurately observing the seabed conditions. Summary of the Invention

[0004] The purpose of the present invention is to provide an ocean hydrological observation device based on an unmanned remotely operated underwater vehicle to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solution: an ocean hydrological observation device based on an unmanned remotely operated submersible, comprising a fixed plate and a mounting block, wherein the mounting block is fixedly connected to the fixed plate and is used for docking and mounting with the unmanned submersible; a transport pipe is fixedly connected above the fixed plate, and a plurality of sampling tubes are provided below the fixed plate; the upper surface of the sampling tubes is in contact with the lower surface of the fixed plate;

[0006] The transport pipe is provided with a sampling mechanism, which is used to take samples from the seabed by shearing;

[0007] The fixed plate is provided with a collecting mechanism, which is used to collect the samples taken by the sampling mechanism into the sampling cylinder at the front position;

[0008] The fixed disk is provided with a rotating mechanism, and the rotating mechanism is used to drive the multiple sampling cylinders to rotate to the frontmost position of the fixed disk in sequence.

[0009] Preferably, the sampling mechanism includes a sampling tube, which is rotatably connected to the transport tube and the bottom end of the sampling tube is hemispherical; shear plates are symmetrically provided on the front and rear sides of the hemispherical part of the bottom end of the sampling tube, and the shear plates are attached to the surface of the hemispherical part of the bottom end of the sampling tube; the surface of the shear plate has a water-permeable mesh structure; fixed plates are symmetrically fixedly connected to the left and right sides of the sampling tube, and the left and right ends of the shear plates are rotatably connected to the fixed plates on the left and right sides respectively; a driving mechanism is provided on the fixed plate, and the driving mechanism is used to drive the two shear plates to open and close; an adjustment mechanism is provided on the sampling tube, and the adjustment mechanism is used to adjust the sampling position of the sampling tube to multiple angles.

[0010] Preferably, the driving mechanism includes a first cylinder, which is fixedly connected to the fixed plate and a push block is fixedly connected to the bottom end of the first cylinder. The push block is symmetrically and rotationally connected to the front and rear sides with a first connecting rod, and the bottom end parts of the first connecting rod on the front and rear sides are respectively rotationally connected to the shear plates on the front and rear sides.

[0011] Preferably, the adjustment mechanism includes a motor, which is fixedly connected to the transport tube and a gear is fixedly connected to the bottom end of the motor output shaft; the upper end of the sampling tube is fixedly connected to an outer ring gear, and the gear is engaged with the outer ring gear; the middle part of the sampling tube is provided with a universal tube, and the upper and lower ends of the universal tube are respectively fixedly connected to the upper and lower parts of the sampling tube; a second cylinder is rotatably connected to the upper sampling tube, and the telescopic end of the second cylinder is rotatably connected to the lower sampling tube.

[0012] Preferably, the collecting mechanism includes a water pump, which is fixedly connected to the fixed plate and the water suction port of the water pump is located at the bottom of the transport pipe away from the sampling pipe; the end of the transport pipe away from the sampling pipe is in contact with the fixed plate and a groove is provided on the fixed plate at this part; the sampling cylinder on the front side is located directly below the groove and directly above the water pump, and the water suction port of the water pump is in contact with the bottom part of the front sampling cylinder.

[0013] Preferably, the rotating mechanism includes a rotating frame, which is rotatably connected to the fixed disk and fixedly connected to a plurality of sampling cylinders; a protective cylinder is rotatably connected to the bottom position of the rotating frame, a torsion spring is provided in the protective cylinder, one end of the torsion spring is fixedly connected to the protective cylinder and the other end of the torsion spring is fixedly connected to the rotating frame; the protective cylinder is fixedly connected to the fixed disk; a first baffle is fixedly connected to the bottom position of the front side of the fixed disk; a blocking mechanism is provided in the sampling cylinder, the blocking mechanism is used to clamp the first baffle to block the rotation of the rotating frame; a detection mechanism is provided in the sampling cylinder, the detection mechanism is used to drive the blocking mechanism in the driving cylinder to disengage from the first baffle after the sample enters the sampling cylinder.

[0014] Preferably, the blocking mechanism includes a first sliding ring, which is located inside the sampling barrel and is slidably connected to the inner wall of the sampling barrel; a second connecting rod is rotatably connected to the first sliding ring, and a sliding block is rotatably connected to the bottom end of the second connecting rod, and a second baffle is fixedly connected to the sliding block near the outer part of the rotating frame, and the second baffle passes through the sampling barrel; the bottom side of the sampling barrel is fixedly connected to the sliding frame, and the sliding block is slidably connected to the sliding frame.

[0015] Preferably, the detection mechanism includes a second sliding ring, which is located in the sampling tube and above the first sliding ring, and the second sliding ring is slidingly connected to the inner wall of the sampling tube; a guide plate is fixedly connected to the second sliding ring, and the middle part of the guide plate is concave downward and the middle part of the guide plate is a water-permeable mesh structure.

[0016] Preferably, the first sliding ring and the second sliding ring are both made of floatable materials.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The present invention can remove samples from the sampled object by shearing by activating the sampling mechanism. Since the seabed soil is soft and there is insufficient support force to support the stability of the unmanned submersible, the shearing method can make the unmanned submersible do not need support force, thereby completing the sample collection and facilitating accurate observation of the seabed conditions.

[0019] 2. The present invention can transport the sample taken by the sampling mechanism to the frontmost sampling cylinder through the collecting mechanism; when the sample enters the frontmost sampling cylinder, the sampling of the first sample is completed. Before the next sampling, the rotating mechanism is started first, and the next sampling cylinder will be driven to the frontmost position through the rotating mechanism, which is convenient for collecting the next sample and can achieve the effect of separately storing different samples. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 It is a rear view structural schematic diagram of the present invention;

[0022] Figure 3 It is a bottom view structural schematic diagram of the present invention;

[0023] Figure 4 It is a schematic diagram of the split structure of the present invention;

[0024] Figure 5 Schematic diagram of the structure of the sampling mechanism of the present invention;

[0025] Figure 6Schematic diagram of the split structure of the sampling mechanism in the present invention;

[0026] Figure 7 It is a structural schematic diagram of the rotating mechanism in the present invention;

[0027] Figure 8 Schematic diagram of the split structure of the rotating mechanism in the present invention;

[0028] Figure 9 It is a schematic cross-sectional structural diagram of the sampling tube in the present invention.

[0029] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0030] 1. Fixed plate; 2. Mounting block; 3. Transport tube; 4. Sampling tube; 5. Sampling tube; 6. Shear plate; 7. Fixed plate; 8. First cylinder; 9. Push block; 10. First connecting rod; 11. Motor; 12. Gear; 13. Outer ring gear; 14. Universal tube; 15. Second cylinder; 16. Water pump; 17. Groove; 18. Rotating frame; 19. Protective tube; 20. Torsion spring; 21. First shift rod; 22. First sliding ring; 23. Second connecting rod; 24. Sliding block; 25. Second shift rod; 26. Sliding frame; 27. Second sliding ring; 28. Guide plate. DETAILED DESCRIPTION

[0031] See also Figure 1-9 The present invention provides a technical solution: an ocean hydrological observation device based on an unmanned remote-controlled submersible, comprising a fixed plate 1 and a mounting block 2, wherein the mounting block 2 is fixedly connected to the fixed plate 1 and is used for docking and mounting with the unmanned submersible; a transport pipe 3 is fixedly connected to the upper position of the fixed plate 1, and a plurality of sampling tubes 4 are provided at the lower position of the fixed plate 1; the upper surface of the sampling tube 4 is in contact with the lower surface of the fixed plate 1;

[0032] The transport pipe 3 is provided with a sampling mechanism, which is used to take samples from the seabed by shearing;

[0033] A collecting mechanism is provided on the fixed plate 1, which is used to collect the samples taken by the sampling mechanism into the sampling cylinder 4 at the front position;

[0034] The fixed disk 1 is provided with a rotating mechanism, which is used to drive the multiple sampling tubes 4 to rotate to the frontmost position of the fixed disk 1 in sequence;

[0035] During operation, when sampling is required for the observed sea area, the mounting block 2 is mounted on the unmanned submersible, and the unmanned submersible is then controlled to dive into the seabed of the target sea area; when the unmanned submersible reaches the sampling position, the sampling mechanism is activated to remove the sample from the sampled object by shearing. Since the seabed soil is soft and there is insufficient support to support the stability of the unmanned submersible, the shearing method can eliminate the need for support for the unmanned submersible, thereby enabling the perfect completion of sample collection.

[0036] When the sampling mechanism completes sampling, the collecting mechanism is started, and the sample taken by the sampling mechanism can be transported to the front sampling tube 4 through the collecting mechanism; when the sample enters the front sampling tube 4, the sampling of the first sample is completed. Before the next sampling, the rotating mechanism is started first, and the next sampling tube 4 will be driven to the front position through the rotating mechanism to facilitate the collection of the next sample.

[0037] like Figure 4-6 As shown, as a further embodiment of the present invention, the sampling mechanism includes a sampling tube 5, which is rotatably connected to the transport tube 3 and has a hemispherical bottom end; shear plates 6 are symmetrically provided on the front and rear sides of the hemispherical portion of the bottom end of the sampling tube 5, and the shear plates 6 are attached to the surface of the hemispherical portion of the bottom end of the sampling tube 5; the surface of the shear plates 6 has a water-permeable mesh structure; fixed plates 7 are symmetrically fixedly connected to the left and right sides of the sampling tube 5, and the left and right ends of the shear plates 6 are rotatably connected to the fixed plates 7 on the left and right sides respectively; a driving mechanism is provided on the fixed plate 7, and the driving mechanism is used to drive the two shear plates 6 to open and close; an adjustment mechanism is provided on the sampling tube 5, and the adjustment mechanism is used to adjust the sampling position of the sampling tube 5 to multiple angles;

[0038] The driving mechanism includes a first cylinder 8, which is fixedly connected to the fixed plate 7 and a push block 9 is fixedly connected to the bottom end of the first cylinder 8. The push block 9 is symmetrically connected to the front and rear sides of the first connecting rod 10 for rotation. The bottom ends of the front and rear first connecting rods 10 are respectively connected to the front and rear shear plates 6 for rotation.

[0039] The adjustment mechanism includes a motor 11, which is fixedly connected to the transport tube 3 and a gear 12 is fixedly connected to the bottom end of the output shaft of the motor 11; the upper end of the sampling tube 5 is fixedly connected to an outer ring gear 13, and the gear 12 is meshed with the outer ring gear 13; a universal tube 14 is provided in the middle part of the sampling tube 5, and the upper and lower ends of the universal tube 14 are respectively fixedly connected to the upper and lower parts of the sampling tube 5; a second cylinder 15 is rotatably connected to the upper sampling tube 5, and the telescopic end of the second cylinder 15 is rotatably connected to the lower sampling tube 5;

[0040] During operation, by starting the second cylinder 15, the sampling tube 5 and the universal tube 14 on the lower side can be pulled to start bending, and by starting the motor 11, the gear 12 can be driven to rotate, and the gear 12 will drive the outer ring gear 13 to rotate, and the outer ring gear 13 will drive the sampling tubes 5 on the upper and lower sides to rotate, thereby driving the sampling tube 5 on the bottom side to rotate to any angle, so as to facilitate sampling of the sampling tube 5 on the bottom side; when the sampling part of the sampling tube 5 is adjusted to the sampling position, the position of the sampling tube 5 is stopped at this time, and then the two first cylinders 8 are started, and the first cylinder 8 drives the push block 9 connected thereto to move downward, and the push block 9 pushes the two shear plates 6 to close respectively through the two first connecting rods 10 connected thereto. After the two shear plates 6 are closed, the sample and its body will be automatically cut off, and the sample will remain in the sampling tube 5.

[0041] like Figure 4 As shown, as a further embodiment of the present invention, the collection mechanism includes a water pump 16, which is fixedly connected to the fixed plate 1, and the water pump 16 suction port is located at the bottom of the transport tube 3 away from the sampling tube 5; the end of the transport tube 3 away from the sampling tube 5 is in contact with the fixed plate 1, and a groove 17 is formed on the fixed plate 1 at this portion; the frontmost sampling barrel 4 is located directly below the groove 17 and directly above the water pump 16, and the water pump 16 suction port is in contact with the bottom portion of the frontmost sampling barrel 4;

[0042] During operation, when the two shear plates 6 are closed, the sample is cut off and retained in the sampling tube 5. At this time, the water pump 16 is started. Since the water pump 16 and the front sampling cylinder 4, the transport pipe 3 and the sampling tube 5 are all in a connected state, the water pump 16 can pump water into the front sampling cylinder 4 through the sampling tube 5 when pumping water. At this time, under the action of the water flow, the sample in the sampling tube 5 will follow the water flow to the front sampling cylinder 4.

[0043] like Figure 7-9 As shown, as a further solution of the present invention, the rotating mechanism includes a rotating frame 18, which is rotatably connected to the fixed disk 1 and fixedly connected to multiple sampling tubes 4; a protective tube 19 is rotatably connected to the bottom position of the rotating frame 18, and a torsion spring 20 is provided in the protective tube 19, one end of the torsion spring 20 is fixedly connected to the protective tube 19 and the other end of the torsion spring 20 is fixedly connected to the rotating frame 18; the protective tube 19 is fixedly connected to the fixed disk 1; a first baffle 21 is fixedly connected to the bottom position of the front side of the fixed disk 1; a blocking mechanism is provided in the sampling tube 4, which is used to clamp the first baffle 21 to block the rotation of the rotating frame 18; a detection mechanism is provided in the sampling tube 4, which is used to drive the blocking mechanism in the driving tube to disengage from the first baffle 21 after the sample enters the sampling tube 4;

[0044] The blocking mechanism includes a first sliding ring 22, which is located inside the sampling tube 4 and is slidably connected to the inner wall of the sampling tube 4; a second connecting rod 23 is rotatably connected to the first sliding ring 22, and a sliding block 24 is rotatably connected to the bottom end of the second connecting rod 23. A second blocking rod 25 is fixedly connected to the sliding block 24 near the outer portion of the rotating frame 18, and the second blocking rod 25 passes through the sampling tube 4; a sliding frame 26 is fixedly connected to the bottom side of the sampling tube 4, and the sliding block 24 is slidably connected to the sliding frame 26;

[0045] The detection mechanism includes a second sliding ring 27, which is located in the sampling tube 4 and above the first sliding ring 22. The second sliding ring 27 is slidably connected to the inner wall of the sampling tube 4; a guide plate 28 is fixedly connected to the second sliding ring 27, and the middle part of the guide plate 28 is concave downward and has a water-permeable mesh structure.

[0046] The first sliding ring 22 and the second sliding ring 27 are both made of buoyant materials;

[0047] During operation, when the water pump 16 extracts the sample into the sampling tube 4 at the front side, the sample will move to the middle position of the guide plate 28 under the action of the guide plate 28. When the sample moves to the middle position of the guide plate 28, the sample will block the water-permeable part on the guide plate 28, and the water flow cannot pass through the guide plate 28 smoothly. Under the action of the water pump 16, the guide plate 28 will drive the second sliding ring 27 to start moving downward; when the second sliding ring 27 moves downward to the position where it fits with the first sliding ring 22, it starts to drive the first sliding ring 22 to move downward. When the first sliding ring 22 moves downward, it will drive the sliding block 24 to slide in the sliding block 24 through the second connecting rod 23. The rack 26 slides toward the inner part of the sampling tube 4, and when the sliding block 24 slides, it will drive the second gear rod 25 to move toward the inner position of the sampling tube 4. When the second gear rod 25 on the front side moves to the inner position of the sampling tube 4, the second gear rod 25 is disengaged from the first gear rod 21. After losing the obstruction of the first gear rod 21, the rotating rack 18 starts to rotate under the action of the torsion spring 20, and the rotating rack 18 drives all the sampling tubes 4 to rotate at the same time. When the second gear rod 25 on the next sampling tube 4 rotates to a position that is in contact with the first gear rod 21, the rotating rack 18 will stop again, so that the sampling tube 4 can be automatically switched, thereby achieving the effect of classifying and preserving samples.

Claims

1. An ocean hydrological observation device based on an unmanned remotely operated underwater vehicle, comprising a fixing plate (1) and a mounting block (2), characterized in that: The mounting block (2) is fixedly connected to the fixed plate (1) and is used for docking and mounting with an unmanned submersible; a transport pipe (3) is fixedly connected to the upper position of the fixed plate (1) and a plurality of sampling cylinders (4) are provided at the lower position of the fixed plate (1); the upper surface of the sampling cylinder (4) is in contact with the lower surface of the fixed plate (1); The transport pipe (3) is provided with a sampling mechanism, and the sampling mechanism is used to take samples on the seabed by shearing; the sampling mechanism comprises a sampling tube (5), and shear plates (6) are symmetrically provided on the front and rear sides of the hemispherical portion at the bottom end of the sampling tube (5), and the shear plates (6) are attached to the surface of the hemispherical portion at the bottom end of the sampling tube (5); The fixed disk (1) is provided with a collecting mechanism, which is used to collect the samples taken by the sampling mechanism into the sampling cylinder (4) at the frontmost position; The fixed disk (1) is provided with a rotating mechanism, and the rotating mechanism is used to drive the plurality of sampling cylinders (4) to rotate sequentially to the frontmost position of the fixed disk (1); The rotating mechanism includes a rotating frame (18), the rotating frame (18) is rotatably connected to the fixed disk (1) and the rotating frame (18) is fixedly connected to a plurality of sampling tubes (4); a protective tube (19) is rotatably connected to the bottom position of the rotating frame (18), a torsion spring (20) is provided in the protective tube (19), one end of the torsion spring (20) is fixedly connected to the protective tube (19) and the other end of the torsion spring (20) is fixedly connected to the rotating frame (18); the protective tube (19) is fixedly connected to the fixed disk (1); a first blocking rod (21) is fixedly connected to the bottom position of the front side of the fixed disk (1); a blocking mechanism is provided in the sampling tube (4), the blocking mechanism is used to clamp the first blocking rod (21) to block the rotating frame (18) from rotating; a detection mechanism is provided in the sampling tube (4), the detection mechanism is used to drive the blocking mechanism in the sampling tube to disengage from the first blocking rod (21) after the sample enters the sampling tube (4); The blocking mechanism comprises a first sliding ring (22), the first sliding ring (22) being located inside the sampling barrel (4) and being slidably connected to the inner wall of the sampling barrel (4); a second connecting rod (23) being rotatably connected to the first sliding ring (22), a sliding block (24) being rotatably connected to the bottom end of the second connecting rod (23), a second blocking rod (25) being fixedly connected to the outer portion of the sliding block (24) near the rotating frame (18), and the second blocking rod (25) passing through the sampling barrel (4); a sliding frame (26) being fixedly connected to the bottom side of the sampling barrel (4), and the sliding block (24) being slidably connected to the sliding frame (26).

2. The ocean hydrological observation device based on an unmanned remotely operated underwater vehicle according to claim 1, characterized in that: The sampling mechanism comprises a sampling tube (5), wherein the sampling tube (5) is rotatably connected to the transport tube (3) and the bottom end of the sampling tube (5) is hemispherical; the surface of the shear plate (6) has a water-permeable mesh structure; fixed plates (7) are symmetrically fixedly connected to the left and right sides of the sampling tube (5), and the left and right ends of the shear plate (6) are rotatably connected to the fixed plates (7) on the left and right sides respectively; a driving mechanism is provided on the fixed plate (7), and the driving mechanism is used to drive the two shear plates (6) to open and close; an adjusting mechanism is provided on the sampling tube (5), and the adjusting mechanism is used to adjust the sampling position of the sampling tube (5) to multiple angles.

3. The ocean hydrological observation device based on an unmanned remotely operated underwater vehicle according to claim 2, characterized in that: The driving mechanism comprises a first cylinder (8), the first cylinder (8) is fixedly connected to the fixed plate (7), and a push block (9) is fixedly connected to the bottom end of the first cylinder (8), and a first connecting rod (10) is symmetrically connected to the front and rear sides of the push block (9) for rotation, and the bottom ends of the first connecting rod (10) on the front and rear sides are respectively connected to the shear plates (6) on the front and rear sides for rotation.

4. The ocean hydrological observation device based on an unmanned remotely operated underwater vehicle according to claim 2, characterized in that: The regulating mechanism comprises a motor (11), the motor (11) is fixedly connected to the transport tube (3), and a gear (12) is fixedly connected to the bottom end of the output shaft of the motor (11); the upper end of the sampling tube (5) is fixedly connected to an outer gear ring (13), and the gear (12) is meshed with the outer gear ring (13); a universal tube (14) is provided in the middle part of the sampling tube (5), and the upper and lower ends of the universal tube (14) are respectively fixedly connected to the upper and lower side parts of the sampling tube (5); a second cylinder (15) is rotatably connected to the upper sampling tube (5), and the telescopic end of the second cylinder (15) is rotatably connected to the lower sampling tube (5).

5. The ocean hydrological observation device based on an unmanned remotely operated underwater vehicle according to claim 2, characterized in that: The collecting mechanism comprises a water pump (16), the water pump (16) is fixedly connected to the fixed plate (1), and the water inlet of the water pump (16) is located at the bottom of the transport tube (3) away from the sampling tube (5); the end of the transport tube (3) away from the sampling tube (5) is in contact with the fixed plate (1), and a groove (17) is provided on the fixed plate (1) at this part; the sampling tube (4) at the front side is located directly below the groove (17) and directly above the water pump (16), and the water inlet of the water pump (16) is in contact with the bottom part of the front sampling tube (4).

6. The ocean hydrological observation device based on an unmanned remotely operated underwater vehicle according to claim 1, characterized in that: The detection mechanism includes a second sliding ring (27), the second sliding ring (27) is located in the sampling tube (4) and above the first sliding ring (22), and the second sliding ring (27) is slidably connected to the inner wall of the sampling tube (4); a guide plate (28) is fixedly connected inside the second sliding ring (27), and the middle part of the guide plate (28) is concave downward and has a water-permeable mesh structure.

7. The ocean hydrological observation device based on an unmanned remotely operated underwater vehicle according to claim 6, characterized in that: The first sliding ring (22) and the second sliding ring (27) are both made of floatable materials.

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